Furniture fitting questions

[Tacha-S]

I'm interested in ed and ed_sensor_integration(RGBD furniture fitting).

I am trying to fit furniture in Gazebo's noiseless environment, but some shapes do not fit well.
For example, the ed_object_models shelf, or even the one we provided, would have fit nicely if the mesh shelf was simple.
Left: before fitting, Right: fitted
Visualizing ED world model and camera's point cloud.

However, the model shown in the figure below would shift backward no matter how many times I tried.

I don't see much difference in the complexity of the model from the two that have done well, but as for you, do you think what I'm doing is a difficult fitting challenge?

If you know, please also tell me what models are easy to fit and what models are difficult.

[MatthijsBurgh]

It is important the entire front side of the object is in camera view. That does seem to be the case in the 2nd picture.

We are actually working on this topic/code right now. There is some old code that hasn't been touched in a while. So we don't have the complete overview right now.

P.S.: Just make sure your camera parameters, calibration, RGB/depth offset, frame positions, etc. are correct.
P.S.2: If you have a laser, visualize that it, so you can check the correctness of the localization.

[Tacha-S]

Thank you for the advice.

Based on your advice and the shape of the shelf that doesn't work, I made the front of the shelf flat.

When flattened, furniture fitting obtained good results.

When only the bottom row was made to protrude, the fitting behavior was also confirmed to be in line with its front-most surface.

Top: flat surface, Bottom: bottom row protrude